Virtual CDC shock absorber performance development method and system based on Adams / Car

Abstract

The invention discloses a virtual CDC shock absorber performance development method and system based on Adams / Car. Establishing a control model in a Matlab / Simulink tool, compiling the control model into a controller DLL (Dynamic Link Library) file, and mounting the controller DLL file into an Adams / Car environment; an Adams / Car vehicle dynamics model with control is constructed in Adams / Car software; all parameters of a controller are obtained in the vehicle dynamics model; and calling the DLL file of the controller in the Adams / Car software to read the parameters of the controller, and generating the damping force value of each CDC shock absorber after the parameters of the controller are read. According to the method, after the DLL file is generated in the Matlab, simulation can be executed by modifying controller parameters in the Adams software, and the suspension adjustment efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of single chip computers, and in particular relates to a method and system for developing virtual CDC shock absorber performance based on Adams / Car. Background Art

[0002] The performance development of CDC (Continuously Damped Control) shock absorbers is usually divided into the early design optimization stage and the later calibration, tuning and verification stage. In the early design optimization stage, the design optimization mainly relies on Adams / Car (Automatic Dynamic Analysis of Mechanical Systems / Car) simulation. For Adams / Car simulation, there are currently only some simple control systems. At present, many vehicle models are equipped with more complex control algorithms, and some are even equipped with neural network and other algorithms. Due to the lack of simulation capabilities corresponding to these complex algorithms, it is impossible to determine the impact of the control algorithm on the performance of the whole vehicle (handling stability, smooth performance) in the early design optimization stage. In the later suspension tuning process, since it is impossible to predict the impact of controller parameters on vehicle performance, it is usually necessary to set controller parameters in Matlab in large quantities and repeatedly, and verify the actual vehicle to achieve vehicle performance indicators, resulting in relatively low tuning efficiency. Summary of the invention

[0003] In order to improve the tuning efficiency of suspension tuning, the present invention proposes a virtual CDC shock absorber performance development method and system based on Adams / Car.

[0004] A virtual CDC shock absorber performance development method based on Adams / Car to achieve one of the purposes of the present invention comprises:

[0005] A control model is established in a Matlab / Simulink tool, wherein the control model is used to output a damping force value of a shock absorber;

[0006] In Matlab / Simulink tools, the control model is compiled into a controller DLL (Dynamic Link Library) file using the compilation tool provided by Adams / Car software;

[0007] Enable the Adams / Control module in the Adams / Car software to mount the generated controller DLL file into the Adams / Car environment;

[0008] Construct a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software;

[0009] The parameters of the controller are monitored in the controlled Adams / Car vehicle dynamics model; the controller DLL file is called in the Adams / Car software to read the parameters of the controller, and the controller DLL file obtains the damping force value of each CDC shock absorber according to the parameters of the controller.

[0010] The technical effects of the above method are:

[0011] In the Adams / Car software, the generated controller DLL file is mounted into the environment, and combined with the vehicle dynamics model, a controlled Adams / Car vehicle dynamics model is constructed. This model can comprehensively and accurately reflect the dynamic characteristics of the vehicle under various working conditions, providing a solid simulation foundation for the evaluation and optimization of shock absorber performance; in the controlled vehicle dynamics model, various parameters of the controller can be easily set, such as the gain and threshold in the control algorithm. The controller DLL file calculates and outputs the damping value of each shock absorber in real time based on these parameters, realizing precise control and dynamic adjustment of the shock absorber performance. This parametric control method not only improves the adaptability and stability of the shock absorber performance, but also makes customized optimization for different driving needs and road conditions possible. Through the above method, the performance of the shock absorber under different working conditions can be systematically evaluated, including comfort, handling, stability and other aspects. Based on the simulation results, researchers can further optimize the control strategy or adjust the shock absorber parameters to achieve the best comprehensive performance. This simulation-based performance evaluation and optimization method not only reduces the cost and risk of actual testing, but also accelerates the product development cycle and time to market.

[0012] Furthermore, the control model includes a CDC controller module for obtaining a current value based on the parameters of the controller obtained from the controlled Adams / Car vehicle dynamics model, and the current value is used to obtain a damping force value of the CDC shock absorber.

[0013] Furthermore, the CDC controller module includes a CDC "ceiling" control module, a ridge detection module and a roll and pitch control module.

[0014] Furthermore, the current value calculation method includes: each module in the CDC controller module outputs its own current value, and the value obtained by weighted summing the current values ​​output by each module according to road conditions is the current value output by the CDC module.

[0015] Furthermore, the current value is calculated according to vehicle driving information, and the vehicle driving information signal includes: vehicle body acceleration in the X, Y, and Z directions, angular velocity, and vehicle body speed in the X direction, and the acquisition method includes:

[0016] In the suspension template in the vehicle dynamics model, the second monitoring function is set to monitor the acceleration in the XYZ direction and the angular velocity in the XY direction at the center of mass of the vehicle body, so as to obtain the acceleration in the X, Y, and Z directions of the vehicle body and the angular velocity signals in the X and Y directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0017] Furthermore, the control model also includes a plurality of shock absorber execution modules, which are used to output the shock absorber damping force value according to the suspension height change rate signal and the current signal output by the CDC controller module.

[0018] Furthermore, the damping force value of the shock absorber is obtained by looking up a table according to the input total current signal and suspension height change rate signal.

[0019] Further, the method for monitoring the parameters of the controller in the controlled Adams / Car vehicle dynamics model includes:

[0020] Create sub-assemblies in the suspension template and body template in the vehicle dynamics model; assemble the sub-assemblies into a general assembly to obtain the Adams / Car vehicle dynamics model; add various parameter acquisition functions of the controller in the suspension template and body template, and store them in the system state variables; declare the system state variables as external variables in the controller DLL file for reference, so as to obtain various parameters of the controller.

[0021] The technical effects of the above method for setting the parameters of the controller are:

[0022] The parameter reference method simplifies the data exchange process between the controller and the vehicle dynamics model, and improves the efficiency and accuracy of data transmission. Through the above steps, the parameters of the controller can be obtained from the vehicle dynamics model in real time and used for the calculation and decision-making of the control strategy. This integration method ensures that the control strategy can accurately reflect the actual state of the vehicle and improves the real-time and accuracy of the control. At the same time, due to the seamless integration of the controller DLL file with the Adams / Car environment, the adjustment and optimization of the control strategy has become more convenient and efficient; at the same time, it also promotes the coordinated optimization between the vehicle dynamics model and the controller. During the simulation process, the parameters of the vehicle dynamics model or the control logic of the controller can be adjusted in real time according to the execution effect of the control strategy to achieve the best control performance and vehicle performance.

[0023] Furthermore, the method for obtaining the suspension height change rate signal includes:

[0024] Add the first system state variable in the suspension template in the vehicle dynamics model, and set the first monitoring function to monitor the distance between the upper sliding column and the lower sliding column of the shock absorber. According to the distance between the upper sliding column and the lower sliding column of the shock absorber, the suspension height change rate signal required by the CDC shock absorber controller is obtained and stored in the first system state variable for reading by the controller DLL file.

[0025] Furthermore, it also includes: creating a new excitation model in the suspension template in the vehicle dynamics model, reading the damping signal force value of the CDC shock absorber and acting between the upper sliding column and the lower sliding column of the shock absorber to replace the original shock absorber in the vehicle dynamics model provided in Adams / Car.

[0026] Furthermore, the vehicle driving information includes accelerations in the X, Y, and Z directions, angular velocities, and speed in the X direction of the vehicle body, and the acquisition method includes:

[0027] In the suspension template in the vehicle dynamics model, the second monitoring function is set to monitor the acceleration in the XYZ direction and the angular velocity in the XY direction at the center of mass of the vehicle body, so as to obtain the acceleration in the X, Y, and Z directions of the vehicle body and the angular velocity signals in the X and Y directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0028] A virtual CDC shock absorber performance development system based on Adams / Car for achieving the second object of the present invention comprises:

[0029] A control model building unit: used for building a control model in a Matlab / Simulink tool, wherein the control model is used for outputting a shock absorber damping force value according to a current value and a suspension height change rate signal;

[0030] File construction unit: used for compiling the control model into a controller DLL file in Matlab / Simulink tool;

[0031] File mounting unit: used to enable the Adams / Control module in the Adams / Car software to mount the controller DLL file into the Adams / Car environment;

[0032] Vehicle dynamics model building unit: used to build a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software;

[0033] Damping value calculation unit: used for monitoring the parameters of the controller in the controlled Adams / Car vehicle dynamics model; calling the controller DLL file in the Adams / Car software to read the parameters of the controller, the controller DLL file reads the parameters of the controller and generates a current value and a suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

[0034] The beneficial effects of the present invention include:

[0035] 1. Compared with the traditional electric control joint simulation, which requires Adams and MATLAB to be opened and used together, the present invention does not need to use MATLAB after MATLAB generates the dll file, and the remaining operations are all performed in the Adams software; the CDC control parameters can be modified and the simulation can be performed in the Adams software, which is completely separated from the MATLAB software during use, thereby improving the adjustment efficiency;

[0036] 2. In the early stage of CDC design, without changing the suspension structure and suspension control development mode, the joint performance verification of structure and control can be carried out to avoid risks; the controller is introduced into the traditional simulation to better meet the project requirements;

[0037] 3. During the later CDC adjustment, users can quickly verify the controller parameters directly in a single software, reducing the learning and usage costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the architecture of the present invention. DETAILED DESCRIPTION

[0039] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0040] Example 1

[0041] like Figure 1 In the virtual simulation verification platform shown:

[0042] 1. First enable the Adams / Control module in the Adams / Car software, which is the basis for integrating the vehicle dynamics model with the controller;

[0043] 2. Establish a control model in Matlab / Simulink tool, wherein the control model is used to generate a controller DLL file according to the input controller parameters; the controller DLL file is called by Adams / Car software to output the shock absorber damping force value according to the various parameters of the controller; the various parameters of the controller include the algorithm for vehicle dynamics control;

[0044] 3. Set the controller parameters to the control model in Adams / Car software and compile it into a controller DLL file that is suitable for the specific vehicle dynamics model and simulation requirements;

[0045] 4. Mount the controller DLL file generated in the previous step into the Adams / Car environment;

[0046] 5. After completing the above settings, perform simulation to obtain the behavior data of the Adams / Car vehicle dynamics model with control.

[0047] Due to the high efficiency of the simulation process, multiple sets of "parameter-result" data sets can be obtained in a short period of time, which has significant advantages for scenarios such as CDC shock absorber performance development and parameter sensitivity analysis verification.

[0048] The compilation and generation of the above controller DLL file requires the compilation tools provided by software such as Adams. Only Matlab / Simulink tools can compile the control model into the controller DLL file.

[0049] The control model includes a CDC controller module and multiple shock absorber execution modules. After the CDC controller module reads the acceleration and angular velocity of the vehicle body in the X, Y, and Z directions, as well as the vehicle body speed in the X direction and / or the suspension height signal, it outputs a current signal to the multiple shock absorber execution modules. The current signal is reversed through the shock absorber damping value. The goal of the shock absorber damping value is to optimize and minimize the vehicle body vibration; the shock absorber execution module directly outputs the shock absorber damping force.

[0050] The CDC controller module contains multiple control modules, including: CDC "ceiling" control module, ridge detection module and roll pitch control module. After the above modules output current signals, they are "fused" by the combination module and then output current values. During fusion, the output current values ​​of different modules are weighted according to different road conditions, and finally a total current is output, which will not be elaborated here.

[0051] The shock absorber execution module corresponds to the module of the four CDC shock absorbers of the vehicle. According to the input total current signal and suspension height and / or suspension height change rate signal, the CDC shock absorber damping force is obtained by looking up the table and output as a signal. At the same time, parameter interfaces are reserved in each of the above modules. After compiling into a controller DLL file, the signal input is the acceleration, angular velocity and suspension height signal of the vehicle body in the X, Y, and Z directions. The parameter input is the same as the reserved parameters in each module, and the signal output is the damping force value of the four CDC shock absorbers.

[0052] The vehicle dynamics model with controller built based on Adams / Car in the embodiment of the present invention includes a sensor part and an execution part. The Adams / Car vehicle dynamics model includes the vehicle body, suspension, steering and other parts, and the suspension part includes suspension rods, shock absorbers, springs and other components.

[0053] When establishing an Adams / Car vehicle dynamics model, a subassembly is usually created from the corresponding suspension template and body template. The created subassembly will inherit the characteristics of the original template, such as the rod connection method, design variables and state variables, etc. The Adams / Car vehicle dynamics model can be obtained by assembling the subassemblies into a general assembly. In the embodiment of the present invention, in order to add a controller to the Adams / Car vehicle dynamics model, it is necessary to modify the original template, that is, reset the damping force actuator and signal input and output settings.

[0054] According to the above controller demand signal input, add the "damperLenthR / damperLenthR" system state variable in the suspension template, and set the first monitoring function to monitor the distance between the upper sliding column and the lower sliding column of the shock absorber, and output the suspension height and / or suspension height change rate signal required by the CDC shock absorber controller. Add excitation ("Actuators"), read the damping signal force value of the CDC shock absorber and act between the upper sliding column and the lower sliding column of the shock absorber to replace the original shock absorber. Set the system state variables "AX / AY / AZ / WX / WY", and set the second monitoring function respectively to monitor the acceleration in the XYZ direction and the angular velocity in the XY direction at the center of mass of the vehicle body, so as to output the acceleration in the X, Y, and Z directions of the vehicle body and the angular velocity signals in the X, Y directions of the vehicle body required by the CDC controller module. Take the "longitudinal_velocit-y" system state variable as the vehicle body X direction velocity signal and output it.

[0055] After assembling the vehicle model in Adams / Car, import the CDC controller library file into the vehicle model. At the same time, the parameter input interface reserved in the CDC controller library file is also set to the vehicle model. The shock absorber can be adjusted using the built-in design variable modification tool. After executing the simulation, the simulation results can be directly viewed in the post-processing results.

[0056] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0057] Example 2

[0058] The Adams / Car-based virtual CDC shock absorber performance development method includes:

[0059] A control model is established in a Matlab / Simulink tool, wherein the control model is used to output a damping force value of a shock absorber according to vehicle driving information;

[0060] In Matlab / Simulink tool, use the compilation tool provided by Adams / Car software to compile the control model into a controller DLL file;

[0061] Enable the Adams / Control module in the Adams / Car software to mount the generated controller DLL file into the Adams / Car environment;

[0062] Construct a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software;

[0063] The controller parameters are monitored in the controlled Adams / Car vehicle dynamics model; the controller DLL file is called in the Adams / Car software to read the controller parameters, the controller DLL file reads the controller parameters and generates a current value and a suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

[0064] In certain embodiments, a method for monitoring parameters of a controller in the controlled Adams / Car vehicle dynamics model includes:

[0065] Create subassemblies from the corresponding suspension templates and body templates in the vehicle dynamics model provided in Adams / Car; assemble the subassemblies into a general assembly to obtain the Adams / Car vehicle dynamics model; add various parameter acquisition functions of the controller in the suspension template and body template, and store them in the system state variables; declare the system state variables as external variables in the controller DLL file for reference, so as to obtain various parameters of the controller.

[0066] In some embodiments, the method for obtaining the suspension height change rate signal includes:

[0067] Add the first system state variable in the suspension template, and set the first monitoring function to monitor the distance between the upper sliding column and the lower sliding column of the shock absorber. According to the distance between the upper sliding column and the lower sliding column of the shock absorber, the suspension height change rate signal required by the CDC shock absorber controller is obtained and stored in the first system state variable.

[0068] In some embodiments, the shock absorber is included in the control model, and the control model directly outputs the force value of the shock absorber, and this force value acts on the suspension to play the role of the original shock absorber; based on this, it also includes: creating a new excitation model in the suspension template, reading the damping signal force value of the CDC shock absorber and acting between the upper sliding column and the lower sliding column of the shock absorber to replace the original shock absorber in the vehicle dynamics model provided in Adams / Car.

[0069] In some embodiments, the current value is calculated based on vehicle driving information, the vehicle driving information includes accelerations in the X, Y, and Z directions of the vehicle body, angular velocities, and speed in the X direction of the vehicle body, and the acquisition method includes:

[0070] In the suspension template in the vehicle dynamics model, the second monitoring function is set to monitor the acceleration in the XYZ direction and the angular velocity in the XY direction at the center of mass of the vehicle body, so as to obtain the acceleration in the X, Y, and Z directions of the vehicle body and the angular velocity signals in the X and Y directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0071] In some embodiments, the control model is a CDC controller module for obtaining current values ​​according to controller parameters obtained from the controlled Adams / Car vehicle dynamics model.

[0072] In some embodiments, the control model further includes a plurality of shock absorber execution modules, which are used to output the shock absorber damping force value according to the suspension height change rate signal and the current value output by the CDC controller module.

[0073] Example 3

[0074] The Adams / Car-based virtual CDC shock absorber performance development system includes:

[0075] A control model building unit: used to build a control model in a Matlab / Simulink tool, wherein the control model is used to output a damping force value of a shock absorber;

[0076] File construction unit: used to compile the control model into a controller DLL file using the compilation tool provided by Adams / Car software in Matlab / Simulink tool;

[0077] File mount unit: used to enable the Adams / Control module in the Adams / Car software, so as to mount the generated controller DLL file into the Adams / Car environment;

[0078] Vehicle dynamics model building unit: used to build a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software;

[0079] Damping value calculation unit: used for monitoring the parameters of the controller in the Adams / Car vehicle dynamics model with control; calling the controller DLL file in the Adams / Car software to read the parameters of the controller, and the controller DLL file obtains the damping force value of each CDC shock absorber according to the parameters of the controller.

[0080] Example 4

[0081] A computer program product comprises a computer program / instruction, which implements any step of the Adams / Car based virtual CDC shock absorber performance development method when executed by a processor.

[0082] Example 5

[0083] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the steps of the method described in the present invention are implemented, which will not be repeated here.

[0084] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0085] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0086] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0090] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A virtual CDC shock absorber performance development method based on Adams / Car, characterized in that: include: A control model is established in a Matlab / Simulink tool, wherein the control model is used to output a damping force value of a shock absorber; Compile the control model into a controller DLL file in Matlab / Simulink tool; Enable the Adams / Control module in the Adams / Car software and mount the controller DLL file into the Adams / Car environment; Construct a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software; The parameters of the controller are monitored in the controlled Adams / Car vehicle dynamics model; the controller DLL file is called in the Adams / Car software to read the parameters of the controller, and the controller DLL file obtains the damping force value of each CDC shock absorber according to the parameters of the controller.

2. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 1, characterized in that: The control model includes a CDC controller module for obtaining a current value according to the parameters of the controller obtained from the Adams / Car vehicle dynamics model with control.

3. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 2, characterized in that: The control model also includes a plurality of shock absorber execution modules, which are used to output the shock absorber damping force value according to the suspension height change rate signal and the current value output by the CDC controller module.

4. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 3, characterized in that: The method for obtaining the suspension height change rate signal includes: Add the first system state variable in the suspension template in the vehicle dynamics model, and set the first monitoring function to monitor the distance between the upper sliding column and the lower sliding column of the shock absorber. According to the distance between the upper sliding column and the lower sliding column of the shock absorber, the suspension height change rate signal required by the CDC shock absorber controller is obtained and stored in the first system state variable for reading by the controller DLL file.

5. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 4, characterized in that: Also includes: Create a new excitation model in the suspension template in the vehicle dynamics model, read the damping signal force value of the CDC shock absorber and act between the upper sliding column and the lower sliding column of the shock absorber to replace the original shock absorber in the vehicle dynamics model provided in Adams / Car.

6. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 1, characterized in that: The method of monitoring the parameters of the controller in the Adams / Car vehicle dynamics model with control includes: Create sub-assemblies in the suspension template and body template in the vehicle dynamics model; assemble the sub-assemblies into a general assembly to obtain the Adams / Car vehicle dynamics model; add various parameter acquisition functions of the controller in the suspension template and body template, and store them in the system state variables; declare the system state variables as external variables in the controller DLL file for reference, so as to obtain various parameters of the controller.

7. The Adams / Car-based virtual CDC shock absorber performance development method according to claim 2, characterized in that: The current value is calculated according to the vehicle driving information, the vehicle driving information includes the acceleration of the vehicle body in the X, Y, and Z directions, the angular velocity, and the vehicle body speed in the X direction, and the acquisition method includes: In the suspension template in the vehicle dynamics model, the second monitoring function is set to monitor the acceleration in the XYZ direction and the angular velocity in the XY direction at the center of mass of the vehicle body, so as to obtain the acceleration in the X, Y, and Z directions of the vehicle body and the angular velocity signals in the X and Y directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

8. A virtual CDC shock absorber performance development system based on Adams / Car using the method of claim 1, characterized in that: include: A control model building unit: used for building a control model in a Matlab / Simulink tool, wherein the control model is used for outputting a shock absorber damping force value according to a current value and a suspension height change rate signal; File construction unit: used for compiling the control model into a controller DLL file in Matlab / Simulink tool; File mounting unit: used to enable the Adams / Control module in the Adams / Car software to mount the controller DLL file into the Adams / Car environment; Vehicle dynamics model building unit: used to build a controlled Adams / Car vehicle dynamics model based on the vehicle dynamics model and simulation requirements in Adams / Car software; Damping value calculation unit: used for monitoring the parameters of the controller in the controlled Adams / Car vehicle dynamics model; calling the controller DLL file in the Adams / Car software to read the parameters of the controller, the controller DLL file reads the parameters of the controller and generates a current value and a suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the Adams / Car-based virtual CDC shock absorber performance development method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the Adams / Car-based virtual CDC shock absorber performance development method described in claims 1 to 7 are implemented.

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